Device for displaying image outside vehicle

ABSTRACT

A problem to be solved by the invention is to provide a vehicle outside-image display apparatus that is capable of visualizing a visual field blocked by an obstacle. A vehicle outside-image display apparatus includes a vehicle outside-image capturing unit ( 114 ) adapted to capture an image outside the vehicle by a camera ( 111 ), an image receiving unit ( 116 ) adapted to receive vehicle outside-image information from outside, an image combining unit ( 118 ) adapted to combine the vehicle outside-image information received by the image receiving unit ( 116 ) with an image captured by the vehicle outside-image capturing unit ( 114 ), and an image display device ( 141 ) adapted to display renewed vehicle outside-image information produced by the image combining unit ( 118 ).

TECHNICAL FIELD

The present invention relates to a vehicle outside-image displayapparatus suitably used for a navigation system.

BACKGROUND ART

Conventionally, navigation systems such as described in Patentliterature 1 and Patent literature 2 have been known as examples ofnavigation systems.

The navigation system described in Patent literature 1 includes a camerathat is installed to a vehicle and is configured to capture an imageahead in the vehicle's traveling direction, and an output device thatoutputs image information; the navigation system is configured so that,when outputting guide information according to the preset route, animage captured by the camera is combined with the guide information,such as an arrow indicating the traveling direction, and the combinedimage is output by the output device. The navigation system can displayguide information in a form similar to the information obtained throughthe driver's field of view.

Further, the navigation system described in Patent literature 2 canselect, as an output image, either a produced image generated from mapdata or an image ahead through a camera in the vehicle's travelingdirection, and has a function to combine route information or guideinformation with either of the selected image. The navigation system canselect either the produced image through map data or the actual imagethrough the camera according to the clearness of the forward field ofview.

(Patent literature 1) JP-A-9-304101.

(Patent literature 2) JP-A-11-108684.

Nevertheless, conventional navigation systems have not been satisfactorysince there are obstacles to the visual field such as vehicles ahead andbuildings, and in particular, the visual field is blocked by vehiclesahead in camera images that are captured the frontward view while in atraffic congestion.

The invention has been accomplished in view of such circumstances, andits object is to provide a vehicle outside-image display apparatus thatcan visualize the field of vision blocked by an obstacle.

DISCLOSURE OF THE INVENTION

The invention provides, in accordance with a first aspect, a vehicleoutside-image display apparatus comprising: a vehicle outside-imagecapturing unit adapted to capture a vehicle's outside image by a camera;an image receiving unit adapted to receive vehicle outside-imageinformation from outside; an image combining unit adapted to combine thevehicle outside-image information received by the image receiving unitwith the image captured by the vehicle outside-image capturing unit; andan image display device for displaying renewed vehicle outside-imageinformation produced by the image combining unit.

With this configuration, the vehicle outside-image information receivedby the image receiving unit is combined and displayed with the imagecaptured by the vehicle outside-image capturing unit to be combined.Therefore, it is possible to visualize the field of vision blocked by anobstacle.

In accordance with a second aspect, the invention provides a vehicleoutside-image display apparatus as in the first aspect, wherein theimage receiving unit may receive vehicle outside-image information froma vehicle ahead of a vehicle equipped with the vehicle outside-imagedisplay apparatus.

With this configuration, the vehicle outside-image information isreceived from the vehicle ahead of the vehicle equipped with the vehicleoutside-image display apparatus. Therefore, it is possible to visualizethe field of vision blocked by the vehicle ahead.

In accordance with a third aspect, the invention provides a vehicleoutside-image display apparatus as in the first aspect, wherein theimage combining unit combines a portion of the vehicle outside-imageinformation received by the image receiving unit with the image capturedby the vehicle outside-image capturing unit.

With this configuration, the vehicle outside-image information isreceived from the vehicle ahead of the vehicle equipped with the vehicleoutside-image display apparatus. Therefore, it is possible to visualizethe field of vision blocked by an obstacle appropriately.

In accordance with a fourth aspect, the invention provides a vehicleoutside-image display apparatus as in the first aspect, furthercomprising an image transmitting unit adapted- to transmit the renewedvehicle out-side-image information produced by the image combining unitto outside.

With this configuration, the renewed vehicle outside-image informationproduced by the image combining unit is transmitted to outside.Therefore, it is possible to visualize the field of vision blocked by anobstacle in the outside.

In accordance with a fifth aspect, the invention provides a vehicleoutside-image display apparatus as in the fourth aspect, wherein theimage transmitting unit transmits the renewed vehicle outside-imageinformation produced by the image combining unit to a rearward vehiclerelative to a vehicle equipped with the vehicle outside-image displayapparatus.

With this configuration, the renewed vehicle outside-image informationproduced by the image combining unit is transmitted to the rearwardvehicle relative to the vehicle equipped with the vehicle outside-imagedisplay apparatus. Therefore, it is possible to visualize the field ofvision blocked by an obstacle in the rearward vehicle.

In accordance with a sixth aspect, the invention provides a vehicleoutside-image display apparatus as in the first aspect, furthercomprising a following distance measuring unit adapted to measure afollowing distance between a vehicle equipped with the vehicleoutside-image display apparatus and a vehicle ahead thereof, and afield-of-vision condition determining unit adapted to determine, withthe following distance measuring unit, whether or not a forward field ofvision is blocked, wherein vehicle outside-image information is receivedfrom the image receiving unit if it is determined that the forward fieldof vision is blocked by the vehicle ahead.

With this configuration, it is determined whether or not a forward fieldof vision is blocked by measuring a following distance from a vehicleahead of a vehicle equipped with the vehicle outside-image displayapparatus. Therefore, the field-of-vision condition can be determinedappropriately.

In accordance with a seventh aspect, the invention provides a vehicleoutside-image display apparatus as in the first aspect, furthercomprising: a three-dimensional measuring unit adapted to perform, by athree-dimensional measuring instrument, a three-dimensional measurementfor an environment in a picture range captured by the vehicleoutside-image capturing unit; a measurement value receiving unit adaptedto receive a three-dimensional measurement value from outside; and aviewpoint converting unit adapted to convert the vehicle outside-imageinformation to have a viewpoint from the camera based on thethree-dimensional measurement value received by the measurement valuereceiving unit and to supply the converted information to the imagecombining unit.

With this configuration, the vehicle outside-image information isconverted to have a viewpoint from the camera based on thethree-dimensional measurement value received by the measurement valuereceiving unit and the converted information is supplied to the imagecombining unit. Therefore, the field of vision blocked by an obstaclecan be visualized in such a manner that it can be recognized moreeasily.

In accordance with an eighth aspect, the invention provides a vehicleoutside-image display apparatus as in the seventh aspect, furthercomprising a measurement value combining unit adapted to combine thethree-dimensional measurement value received by the measurement valuereceiving unit with the three-dimensional measurement value acquired bythe three-dimensional measuring unit.

With this configuration, the three-dimensional measurement valuereceived by the measurement value receiving unit is combined with thethree-dimensional measurement value acquired by the three-dimensionalmeasuring unit. Therefore, the field of vision outside that is blockedby an obstacle can be visualized in such a manner that it can berecognized more easily.

In accordance with a ninth aspect, the invention provides a vehicleoutside-image display apparatus as in the eighth aspect, furthercomprising a measurement value transmitting unit adapted to transmit arenewed three-dimensional measurement value produced by the measurementvalue combining unit to outside.

With this configuration, the renewed three-dimensional measurement valueproduced by the measurement value combining unit is transmitted tooutside. Therefore, the field of vision outside that is blocked by anobstacle can be visualized in such a manner that it can be recognizedmore easily.

In accordance with a tenth aspect, the invention provides a vehicleoutside-image display apparatus as in the ninth aspect, wherein themeasurement value transmitting unit transmits the renewedthree-dimensional measurement value produced by the measurement valuecombining unit to a rearward vehicle relative to the vehicle equippedwith the vehicle outside-image display apparatus.

With this configuration, the renewed three-dimensional measurement valueproduced by the measurement value combining unit is transmitted to arearward vehicle relative to the vehicle equipped with the vehicleoutside-image display apparatus. Therefore, the field of vision outsidein the rearward vehicle that is blocked by an obstacle can be visualizedin such a manner that it can be recognized more easily.

In accordance with an eleventh aspect, the invention provides a vehicleoutside-image display apparatus as in the first aspect, wherein theimage receiving unit receives vehicle outside-image information from anobstructive object that obstructs a field of view ahead of a vehicleequipped with the vehicle outside-image display apparatus.

With this configuration, vehicle outside-image information is receivedfrom an obstructive object that obstructs a field of view ahead of avehicle equipped with the vehicle outside-image display apparatus.Therefore, it is possible to visualize the field of vision that isblocked by the obstructive object.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram illustrating the configuration of a vehicleoutside-image display system according to a first embodiment of theinvention.

FIG. 2 is a block diagram illustrating the configuration of a vehicleoutside-image display apparatus provided for a second vehicle in thefirst embodiment of the invention.

FIG. 3 is a block diagram illustrating the configuration of a vehicleoutside-image display apparatus provided for a first vehicle in thefirst embodiment of the invention.

FIG. 4 is a block diagram illustrating the configuration of a vehicleoutside-image display apparatus provided for a third vehicle in thefirst embodiment of the invention.

FIG. 5 is a flow-chart for explaining an operation of the vehicleoutside-image display system according to the first embodiment of theinvention.

FIG. 6 is a view illustrating an example of an environment in the firstembodiment of the invention.

FIG. 7 is a view illustrating a display example of a vehicleoutside-image in the first embodiment of the invention.

FIG. 8 is a view illustrating one example of the case in which a blindspot exists in the first embodiment of the invention.

FIG. 9 is a block diagram illustrating the configuration of a vehicleoutside-image display system according to a second embodiment of theinvention.

FIG. 10 is a block diagram illustrating the configuration of a vehicleoutside-image display apparatus provided for a second vehicle in thesecond embodiment of the invention.

FIG. 11 is a block diagram illustrating the configuration of a vehicleoutside-image display apparatus provided for a first vehicle in thesecond embodiment of the invention.

FIG. 12 is a block diagram illustrating the configuration of a vehicleoutside-image display apparatus provided for a third vehicle in thesecond embodiment of the invention.

FIG. 13 is a flow-chart for explaining an operation of the vehicleoutside-image display system according to the second embodiment of theinvention.

FIG. 14 is a block diagram illustrating the configuration of a vehicleoutside-image display system according to a third embodiment of theinvention.

FIG. 15 is a block diagram illustrating the configuration of a vehicleoutside-image display apparatus provided for a vehicle in the thirdembodiment of the invention.

FIG. 16 is a block diagram illustrating the configuration of an imagetransmitting device provided for an obstructive object in the thirdembodiment of the invention.

FIG. 17 is a flow-chart for explaining an operation of the vehicleoutside-image display system according to the third embodiment of theinvention.

In the drawings, reference numerals are as follows: 100, 200, and 300denote vehicle outside-image display systems; 101 to 103, 201 to 203,and 301 denote vehicle outside-image display apparatus; 104 denotes atraffic signal; 105 to 108 denote buildings; 111 to 113, 211 to 213, and311 and 312 denote cameras; 114, 214, and 314 denote vehicleoutside-image capturing units; 115, 215, and 315 denote imagetransmitting units; 116, 216, and 316 denote image receiving units; 118,218, and 318 denote image synthesizing units; 121 to 123, 221 to 223,and 321 denote vehicle outside-image information; 141 to 143, 241 to243, and 341 denote image display devices; 151 to 153, 251 to 253, and351 and 352 denote wireless communication interfaces; 161 and 271 denotefollowing distance measuring units; 162 and 272 denote field-of-visioncondition determining units; 217 denotes a viewpoint converting unit;231 and 232 denote three-dimensional measuring instruments; 234 denotesa three-dimensional measurement unit; 235 denotes a measurement valuetransmitting unit; 236 denotes a measurement value receiving unit; 237denotes a measurement value synthesizing unit; 261 and 262 denotethree-dimensional measurement values; 302 denotes an image transmittingdevice; 303 denotes an obstructive object sensing unit; and 322 denotesimage information.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinbelow, embodiments of the invention are explained in detail withreference to the drawings.

First Embodiment

FIG. 1 is a block diagram illustrating the configuration of a vehicleoutside-image display system 100 according to a first embodiment of theinvention. Referring to FIG. 1, the vehicle outside-image display system100 according to the present embodiment includes a vehicle outside-imagedisplay apparatus 102 provided for a second vehicle B, a vehicleoutside-image display apparatus 101 provided for a first vehicle A, anda vehicle outside-image display apparatus 103 provided for a thirdvehicle C. The vehicle outside-image display apparatus 102 transmits, toa rearward vehicle, vehicle outside-image information 122 in whichvehicle's outside conditions are visualized through a viewpoint of aninstalled camera 112. The vehicle outside-image display apparatus 101receives the vehicle outside-image information 122 and transmits, to afurther rearward vehicle, renewed vehicle outside-image information 121,wherein the received vehicle outside-image information 122 is combinedwith information in which vehicle's outside conditions are visualizedthrough a viewpoint of an installed camera 111. The vehicleoutside-image display apparatus 103 receives the vehicle outside-imageinformation 121 and combines the received vehicle outside-imageinformation 121 with information in which vehicle's outside conditionsare visualized through a viewpoint of an installed camera 113.

FIG. 2 is a block diagram illustrating the configuration of the vehicleoutside-image display apparatus 102 provided for the second vehicle B.Referring to FIG. 2, the vehicle outside-image display apparatus 102provided for the second vehicle B includes the camera 112, a vehicleoutside-image capturing unit 114, an image display device 142, an imagetransmitting unit 115, and a wireless communication interface 152. Thecamera 112 captures an image of the view in front of the vehicle toacquire the vehicle outside-image information 122. The vehicleoutside-image capturing unit 114 captures an image of the view in frontof the vehicle (vehicle's outside) by the camera 112. The image displaydevice 142 displays the image captured by the camera 112. The imagetransmitting unit 115 transmits the vehicle outside-image information122. The wireless communication interface 152 performs datatransmission/reception with the first vehicle A, which is a followingvehicle.

FIG. 3 is a block diagram illustrating the configuration of the vehicleoutside-image display apparatus 101 provided for the first vehicle A.Referring to FIG. 3, the vehicle outside-image display apparatus 101provided for the first vehicle A includes the camera 111, a vehicleoutside-image capturing unit 114, a wireless communication interface151, an image receiving unit 116, an image combining unit 118, an imagedisplay device 141, and an image transmitting unit 115. The camera 111captures an image of the view in front of the vehicle. The vehicleoutside-image capturing unit 114 captures an image of the view in frontthe vehicle (vehicle's outside) by the camera 111. The wirelesscommunication interface 151 performs data transmission/reception withthe second vehicle B, which is a forward vehicle, and with the thirdvehicle C, which is a following vehicle. The image receiving unit 116receives the vehicle outside-image information 122 from the secondvehicle B through the wireless communication interface 151. The imagecombining unit 118 combines the vehicle outside-image information 122received by the image receiving unit 116 with the image captured by thevehicle outside-image capturing unit 114. The image display device 141displays the renewed vehicle outside-image information 121 produced bythe image combining unit 118. The image transmitting unit 115 transmitsthe renewed vehicle outside-image information 121 through the wirelesscommunication interface 151 to the third vehicle C.

FIG. 4 is a block diagram illustrating the configuration of the vehicleoutside-image display apparatus 103 provided for the third vehicle C.Referring to FIG. 4, the vehicle outside-image display apparatus 103provided for the third vehicle C includes the camera 113, a vehicleoutside-image capturing unit 114, a wireless communication interface153, an image receiving unit 116, an image combining unit 118, and animage display device 143. The camera 113 captures an image of the viewin front the vehicle. The vehicle outside-image capturing unit 114captures an image of the view in front the vehicle (vehicle's outside)by the camera 113. The wireless communication interface 153 performsdata transmission/reception with the first vehicle A, which is a forwardvehicle. The image receiving unit 116 receives the vehicle outside-imageinformation 121 from the first vehicle A through the wirelesscommunication interface 153. The image combining unit 118 combines thevehicle outside-image information 121 received by the image receivingunit 116 with the image captured by the vehicle outside-image capturingunit 114. The image display device 143 displays renewed vehicleoutside-image information 123 produced by the image combining unit 118.

When a certain vehicle performs data reception, the vehicle transmitsdata request information to a forward vehicle in advance, and theforward vehicle transmits data to the subject vehicle in response to therequest information. For example, when the first vehicle A performs datareception, data request information is transmitted to the second vehicleB, which is the forward vehicle, in advance, and accordingly, the secondvehicle B performs data transmission to the first vehicle A.

Each of the vehicle outside-image display apparatus 101 to 103 furtherincludes a following distance measuring unit 161 that measures afollowing distance from the forward vehicle, and a field-of-visioncondition determining unit 162 that determines, by the followingdistance measuring unit 161, whether or not the following distance fromthe forward vehicle is short and the forward field of vision is blocked.For example, if the field-of-vision condition determining unit 162 ofone vehicle determines that the field of vision is good, the subjectvehicle is recognized as being the second vehicle B. On the other hand,in the case where the field-of-vision condition determining unit 162 ofone vehicle determines that the field of vision is not good because ofthe vehicle ahead, the subject vehicle is recognized as follows. If arequest for vehicle outside-image information is being received from afollowing vehicle, the subject vehicle is recognized as the firstvehicle A, because the subject vehicle needs to transmit the vehicleoutside-image information to the following vehicle; on the other hand,if no request for vehicle outside-image information is being receivedfrom a following vehicle, the subject vehicle is recognized as the thirdvehicle C since the subject vehicle needs to transmit the vehicleoutside-image information to the following vehicle.

Next, the operation of the vehicle outside-image display system 100 ofthe present embodiment thus configured will be explained with referenceto the flow-chart of FIG. 5.

First, in a certain vehicle, it is determined by the field-of-visioncondition determining unit 162 whether the forward field of vision isgood (step S101). If it is determined that the field of vision is goodin step S101, it means that the vehicle is the second vehicle B, so theimage by the installed camera 112 is displayed on the image displaydevice 142 as it is (step S102). Next, it is determined whether or notdata request information is being received from a following vehiclethrough the wireless communication interface 152 (step S103). If thedata request information is received, an image captured by the camera112 is transmitted as the vehicle outside-image information 122 by theimage transmitting unit 115 through the wireless communication interface152 to the first vehicle A, which is the following vehicle (step S104),and the process returns to step S101.

On the other hand, if it is determined in step S101 that the field ofvision is not good, it means that the vehicle is either the firstvehicle A or the third vehicle C, and accordingly, the vehicle transmitsdata request information through the wireless communication interface151 or 153 to the forward vehicle (step S105). Next, the vehicleoutside-image information 122 or 121 is received from the forwardvehicle by the image receiving unit 116 through the wirelesscommunication interface 151 or 153 (step S106). Subsequently, part ofthe image, captured by the installed camera 111 or 113, in which thefield of vision is blocked by the forward vehicle is combined with aportion of the received vehicle outside-image information 122 or 121 toproduce the renewed vehicle outside-image information 121or 123 in whichthe field of vision is cleared (step S107). Next, the combined vehicleoutside-image information 121 or 123 is displayed on the image displaydevice 141 or 143 (step S108).

Next, it is determined whether or not data request information is beingreceived from a following vehicle through the wireless communicationinterface 151 or 153 (step S103). If the data request information isbeing received, it means that the vehicle is the first vehicle A, so thevehicle outside-image information 121 is transmitted to the thirdvehicle C by the image transmitting unit 115 through the wirelesscommunication interface 151 (step S104), and the process returns to stepS101.

Here, specific contents of the processing are explained with referenceto FIG. 6, which shows an example of an environment such as respectivepositions of the vehicles and buildings at the present situation. In theenvironment of FIG. 6, a traffic signal 104 is placed at anintersection, and buildings 105 to 108 are respectively arranged. In theimage captured by the camera 112 installed in the second vehicle B, asillustrated in FIG. 7(a), the field of vision is good since there existsno vehicle ahead that causes obstruction.

On the other hand, in the image captured by the camera 111 installed inthe first vehicle A, illustrated in FIG. 7(b), the field of vision isblocked because of the presence of the second vehicle B. Therefore, thefirst vehicle A receives the vehicle outside-image information 122,which is the image shown in FIG. 7(a), from the second vehicle B ahead,and detects the second vehicle B by such a method of determining thevehicle from the image among pre-registered vehicle image patterns, soas to determine a rectangular region 109, for example, that covers thesecond vehicle B, as illustrated in FIG. 7(d). Then, the receivedvehicle outside-image information 122 is reduced in size or cropped sothat it fits into the rectangular region 109, and is combined therewith.For example, a partial image of the vehicle outside-image information122 is captured out in such a manner that there will be no mismatch inimages at the portion where the image outside the rectangular region 109and the received vehicle outside-image information 122 are combined, andthe partial image is embedded into the rectangular region 109. Thevehicle outside-image information 121 thus produced is shown FIG. 7(e).

Furthermore, in the image captured by the camera 113 installed in thethird vehicle C, shown in FIG. 7(c), the field of vision is blocked bythe presence of the first vehicle A and the second vehicle B. Therefore,the third vehicle C receives the vehicle outside-image information 121,which is the image shown in FIG. 7(e), from the first vehicle A ahead,and determines a rectangular region 110, for example, that covers thefirst vehicle A and the second vehicle B, as shown in FIG. 7(f). Then,the received vehicle outside-image information 121 is reduced in sizeand cropped so that it fits into the rectangular region 110, and iscombined therewith. The vehicle outside-image information 123 thusproduced is shown in FIG. 7(g).

It should be noted that the cameras installed in vehicles in the vehicleoutside-image display system 100, described in the present embodiment,are restricted to capture only images of the views in front. However, asshown in FIG. 8, if the second vehicle B ahead is a long vehicle, suchas a truck, or if the following distance between the first vehicle A andthe second vehicle B is too short, there appears a blind spot thatcannot be viewed through both of the cameras of the first vehicle andthe second vehicle. In view of this, it is possible to place cameras atevery part of the vehicle so that images in all directions can becaptured, whereby images can be combined with even the portions thatbecome blind spots to visualize the portions.

Although the field of view in front is cleared in the presentembodiment, it is also possible to clear the fields of view in alldirections by installing cameras for all directions.

Second Embodiment

FIG. 9 is a block diagram illustrating the configuration of a vehicleoutside-image display system 200 according to a second embodiment of theinvention. The vehicle outside-image display system 200 according to thepresent embodiment differs from the vehicle outside-image display system100 according to the first embodiment described above in that each ofthe first vehicle and the second vehicle further includes athree-dimensional measuring instrument that performs a three-dimensionalmeasurement of the environment in a picture range of the camera, andthat a three-dimensional measurement value measured by thethree-dimensional measuring instrument is added to the data to betransmitted/received through the wireless communication interface.

Specifically, referring to FIG. 9, the vehicle outside-image displaysystem 200 according to the present embodiment includes a vehicleoutside-image display apparatus 202 provided for the second vehicle B, avehicle outside-image display apparatus 201 provided for the firstvehicle A, and a vehicle outside-image display apparatus 203 providedfor the third vehicle C. The vehicle outside-image display apparatus 202transmits, to a rearward vehicle, vehicle outside-image information 222in which vehicle's outside conditions are visualized through a viewpointof an installed camera 212, and a three-dimensional measurement value262 obtained from a three-dimensional measuring instrument 232 thatperforms a three-dimensional measurement of an environment in a picturerange of the camera 212. The vehicle outside-image display apparatus 201receives the vehicle outside-image information 222 and thethree-dimensional measurement value 262, and transmits, to a furtherrearward vehicle, renewed vehicle outside-image information 221. Therenewed vehicle outside-image information 221 is image informationobtained by subjecting the received vehicle outside-image information222 to viewpoint conversion based on the three-dimensional measurementvalue 262 and thereafter combining the received vehicle outside-imageinformation 222 with information in which vehicle's outside conditionsare visualized through the viewpoint of an installed camera 211. Thevehicle outside-image display apparatus 201 also transmits, to therearward vehicle, a renewed three-dimensional measurement value 261,which is a measurement value obtained by combining the receivedthree-dimensional measurement value 262 with a three-dimensionalmeasurement value obtained by the three-dimensional measuring instrument231 that performs a three-dimensional measurement for an environment ina picture range of the camera 211. The vehicle outside-image displayapparatus 203 receives the vehicle outside-image information 221 and thethree-dimensional measurement value 261, and combines the receivedvehicle outside-image information 221 with information in whichvehicle's outside conditions are visualized through the viewpoint of aninstalled camera 213 after the received vehicle outside-imageinformation 221 has been subjected to viewpoint conversion based on thethree-dimensional measurement value 261.

FIG. 10 is a block diagram illustrating the configuration of the vehicleoutside-image display apparatus 202 provided for the second vehicle B.Referring to FIG. 10, the vehicle outside-image display apparatus 202provided for the second vehicle B includes a camera 212, a vehicleoutside-image capturing unit 214, an image display device 242, a imagetransmitting unit 215, a three-dimensional measuring instrument 232, athree-dimensional measuring unit 234, a measurement value transmittingunit 235, and a wireless communication interface 252. The camera 212captures an image of the view in front of the vehicle in order toacquire the vehicle outside-image information 222. The vehicleoutside-image capturing unit 214 captures an image of the view in frontof the vehicle (vehicle's outside) by the camera 212. The image displaydevice 242 displays an image captured by the camera 212. The imagetransmitting unit 215 transmits the vehicle outside-image information222. The three-dimensional measuring instrument 232 performs athree-dimensional measurement of the environment in the picture range ofthe camera 212 using ultrasonic, laser, infrared rays, or the like inorder to acquire a three-dimensional measurement value 262. Thethree-dimensional measuring unit 234 performs a three-dimensionalmeasurement by the three-dimensional measuring instrument 232. Themeasurement value transmitting unit 235 transmits the three-dimensionalmeasurement value 262. The wireless communication interface 252 performsdata transmission/reception with the first vehicle A, which is afollowing vehicle.

Fig. 11 is a block diagram illustrating the configuration of the vehicleoutside-image display apparatus 201 provided for the first vehicle A.Referring to FIG. 11, the vehicle outside-image display apparatus 201provided for the first vehicle A includes a camera 211, a vehicleoutside-image capturing unit 214, a wireless communication interface251, an image receiving unit 216, a viewpoint converting unit 217, animage combining unit 218, an image display device 241, an imagetransmitting unit 215, a three-dimensional measuring instrument 231, athree-dimensional measuring unit 234, a measurement value receiving unit236, a measurement value combining unit 237, and a measurement valuetransmitting unit 235. The camera 211 captures an image of the view infront of the vehicle. The vehicle outside-image capturing unit 214captures an image of the view in front of the vehicle (vehicle'soutside) by the camera 211. The wireless communication interface 251performs data transmission/reception with the second vehicle B, which isthe forward vehicle, and the third vehicle C, which is the followingvehicle. The image receiving unit 216 receives the vehicle outside-imageinformation 222 from the second vehicle B through the wirelesscommunication interface 251. The viewpoint converting unit 217 performsviewpoint conversion for the vehicle outside-image information 222 basedon a three-dimensional measurement value 262 received by thelater-described measurement value receiving unit 236. The imagecombining unit 218 combines the vehicle outside-image information 222,which has been subjected to the viewpoint conversion by the viewpointconverting unit 217, with the image captured by the vehicleoutside-image capturing unit 214. The image display device 241 displaysthe renewed vehicle outside-image information 221, produced by the imagecombining unit 218. The image transmitting unit 215 transmits therenewed vehicle outside-image information 221 to the third vehicle Cthrough the wireless communication interface 251. The three-dimensionalmeasuring instrument 231 performs a three-dimensional measurement of anenvironment in a picture range of the camera 211. The three-dimensionalmeasuring unit 234 performs a three-dimensional measurement by thethree-dimensional measuring instrument 231. The measurement valuereceiving unit 236 receives the three-dimensional measurement value 262from the second vehicle B through the wireless communication interface251. The measurement value combining unit 237 combines thethree-dimensional measurement value 262 received by the measurementvalue receiving unit 236 with the three-dimensional measurement valueacquired by the three-dimensional measuring unit 234. The measurementvalue transmitting unit 235 transmits renewed three-dimensionalmeasurement value 261 produced by the measurement value combining unit237, to the third vehicle C through the wireless communication interface251.

FIG. 12 is a block diagram illustrating the configuration of the vehicleoutside-image display apparatus 203 provided for the third vehicle C.Referring to FIG. 12, the vehicle outside-image display apparatus 203provided for the third vehicle C includes a camera 213, a vehicleoutside-image capturing unit 214, a wireless communication interface253, an image receiving unit 216, a measurement value receiving unit236, a viewpoint converting unit 217, an image combining unit 218, andan image display device 243. The camera 213 captures an image of theview in front of the vehicle. The vehicle outside-image capturing unit214 captures an image of the view in front of the vehicle (vehicle'soutside) by the camera 213. The wireless communication interface 253performs data transmission/reception with the first vehicle A, which isthe forward vehicle. The image receiving unit 216 receives the vehicleoutside-image information 221 from the first vehicle A through thewireless communication interface 253. The measurement value receivingunit 236 receives a three-dimensional measurement value 261 from thefirst vehicle A through the wireless communication interface 253. Theviewpoint converting unit 217 performs viewpoint conversion for thevehicle outside-image information 221 based on the three-dimensionalmeasurement value 261 received by the measurement value receiving unit236. The image combining unit 218 combines the vehicle outside-imageinformation 221 subjected to the viewpoint conversion by the viewpointconverting unit 217 with the image captured by vehicle outside-imagecapturing unit 214. The image display device 243 displays renewedvehicle outside-image information 223 produced by the image combiningunit 218.

It should be noted that when a certain vehicle performs data reception,it transmits data request information to a forward vehicle in advance,and the forward vehicle transmits data to the vehicle in response to therequest information; this is similar to the vehicle outside-imagedisplay system 100 according to the first embodiment describedpreviously.

In addition, each of the vehicle outside-image display apparatus 201 to203 further includes a following distance measuring unit 271 and afield-of-vision condition determining unit 272; this is also similar tothe vehicle outside-image display system 100 according to the firstembodiment described previously.

Next, the operation of the vehicle outside-image display system 200 thusconfigured according to the present embodiment -is explained withreference to the flow-chart of FIG. 13.

First, it is determined by the field-of-vision condition determiningunit 272 in a certain vehicle whether or not the forward field of visionis good (step S201). If it is determined in step S201 that the field ofvision is good, it means that the vehicle is the second vehicle B, andthe image captured by the installed camera 212 is displayed on the imagedisplay device 242 as it is (step S202). Next, The environment such asbuildings existing in the picture range of the installed camera 212 issubjected to a three-dimensional measurement by the three-dimensionalmeasuring unit 234 using the three-dimensional measuring instrument 232(step S203). Subsequently, it is determined whether or not data requestinformation is being received from a following vehicle through thecommunication interface 252 (step S204). If the data request informationis being received, the image transmitting unit 215 and the measurementvalue transmitting unit 235 transmits the vehicle outside-imageinformation 222, which is the image captured by the camera 212, and thethree-dimensional measurement value 262, to the first vehicle A, whichis the following vehicle, through the wireless communication interface252 (step S205), and the process returns to step S201.

On the other hand, if it is determined in step S201 that the field ofvision is not good, it means that the vehicle is either the firstvehicle A or the third vehicle C, so data request information istransmitted to the forward vehicle through the wireless communicationinterface 251 or 253 (step S206). Next, the image receiving unit 216 andthe measurement value receiving unit 236 respectively receive thevehicle outside-image information 222or 221 and the three-dimensionalmeasurement value 262 or 261 from the forward vehicle through thewireless communication interface 251or 253 (step S207). Subsequently,the received vehicle outside-image information 222 or 221 is subjectedto a processing by the viewpoint converting unit 217, which converts itsviewpoint to the viewpoint of the installed camera 211or 213 based onthe three-dimensional measurement value 262 or 261 (step S208). Next, aportion of the vehicle outside-image information subjected to theviewpoint conversion is combined with part of the image captured by theinstalled camera 211 or 213, the field of view of which is blocked bythe forward vehicle to produce vehicle outside-image information 221 or223 in which the field of vision is cleared (step S209). Subsequently,the combined vehicle outside-image information 221 or 223 is displayedon the image display device 241or 243 (step S210). Next, the environmentsuch as buildings existing in the picture range of the installed camera211 or 213 is subjected to a three-dimensional measurement by thethree-dimensional measuring unit 234 using the three-dimensionalmeasuring instrument 231 (step S211). Subsequently, the measuredthree-dimensional measurement value is combined with thethree-dimensional measurement value 262 or 261 received by themeasurement value receiving unit 236 to produce a three-dimensionalmeasurement value for the combined vehicle outside-image information 221or 223 (step S212).

Next, it is determined whether or not data request information is beingreceived from the following vehicle through the wireless communicationinterface 251 or 253 (step S204). If the data request information isbeing received, it means that the vehicle is the first vehicle A, so theimage transmitting unit 215 and the measurement value transmitting unit235 respectively transmit the vehicle outside-image information 221 andthe three-dimensional measurement value 262 to the third vehicle Cthrough the wireless communication interface 251 (step S205). Then, theprocess returns to step S201.

It should be noted that the present embodiment explained that bytransmitting/receiving three-dimensional measurement values along withvehicle outside-image information, distortion arising in combining theimages is corrected using the parallax due to the difference between theabsolute positions of the cameras installed to the respective vehicles;however, it is also possible to install cameras in such a manner thatimages in all directions can be captured, in order to make transparentthe vehicles that obstruct the field of view in all directions that canbe viewed from a vehicle, or visualize the portions that become blindspots. In that case, however, it is necessary that three-dimensionalmeasuring instruments be installed so that three-dimensionalmeasurements can be performed also for those directions.

Furthermore, in order to correct distortion that occurs in combiningimages, it is also possible to provide an acquired image processing unitthat carries out image processing so that received vehicle outside-imageinformation has a viewpoint from the camera installed to the vehicle.

Third Embodiment

FIG. 9 is a block diagram illustrating the configuration of a vehicleoutside-image display system 300 according to a third embodiment of theinvention. The vehicle outside-image display system 300 according to thepresent embodiment differs from the foregoing vehicle outside-imagedisplay system 100 according to the first embodiment in that a camera312 and a wireless communication interface are installed to anobstructive object 302 other than vehicles, such as a building and atree, that can obstruct the field of view from a vehicle.

Specifically, referring to FIG. 14, the vehicle outside-image displaysystem 300 according to the present embodiment includes an imagetransmitting device 302 provided for an obstructive object X and avehicle outside-image display apparatus 301 provided for a vehicle A.The image transmitting device 302 transmits, to a rearward vehicle,image information 322 in which outdoor conditions are visualized througha viewpoint of an installed camera 312. The vehicle outside-imagedisplay apparatus 301 receives the image information 322 and combinesthe received image information 322 with information in which vehicle'soutside conditions are visualized through a viewpoint of an installedcamera 311.

FIG. 15 is a block diagram illustrating the configuration of the vehicleoutside-image display apparatus 301 provided for the vehicle A.Referring to FIG. 15, the vehicle outside-image display apparatus 301provided for the vehicle A includes a camera 311, a vehicleoutside-image capturing unit 314, a wireless communication interface351, an obstructive object sensing unit 303, an image receiving unit316, an image combining unit 318, an image display device 341, and animage transmitting unit 315. The camera 311 captures an image of theview in front of the vehicle. The vehicle outside-image capturing unit314 captures an image of the view in front of the vehicle (vehicle'soutside) by the camera 311. The wireless communication interface 351performs data transmission/reception with the obstructive object X andthe following vehicle (forward vehicle). The obstructive object sensingunit 303 senses the presence of the obstructive object X within thepicture range of the camera 311. In response to the output from theobstructive object sensing unit 303, the image receiving unit 316receives image information 322 from the obstructive object X through thewireless communication interface 351. The image combining unit 318combines the image information 322 received by the image receiving unit316 with the image captured by the vehicle outside-image capturing unit314. The image display device 341 displays renewed vehicle outside-imageinformation 321 produced by the image combining unit 318. The imagetransmitting unit 315 transmits the renewed vehicle outside-imageinformation 321 through the wireless communication interface 351 to afollowing vehicle.

FIG. 16 is a block diagram illustrating the configuration of the imagetransmitting device 302 provided for the obstructive object X. Referringto FIG. 16, the image transmitting device 302 provided for theobstructive object X includes a camera 312, an image capturing unit 314,an image transmitting unit 315, and a wireless communication interface352. The camera 312 captures an image in a direction that becomes ablind spot viewed from the vehicle A, in order to acquire the imageinformation 322. The image capturing unit 314 captures images by thecamera 312. The image transmitting unit 315 transmits the imageinformation 322. The wireless communication interface 352 performs datatransmission/reception with the vehicle A.

It should be noted that when the vehicle A performs data reception, ittransmits data request information to the obstructive object X inadvance, and the obstructive object X transmits data to the vehicle A inresponse to the request information, this is similar to the vehicleoutside image display system 100 according to the first embodimentdescribed previously.

Next, the operation of the vehicle outside-image display system 300 thusconfigured according to the present embodiment is explained withreference to the flow-chart of FIG. 17.

First, in the vehicle A equipped with the vehicle outside-image displayapparatus 301, the obstructive object sensing unit 303 senses theobstructive object X within the picture range of the camera 311 (stepS301). Next, upon sensing the obstructive object X, the vehicle Atransmits data request information to the obstructive object X throughthe wireless communication interface 351 (step S302). Next, the imagereceiving unit 316 receives the image information 322 from theobstructive object X through the wireless communication interface 351(step S303). Subsequently, part of the received image information 322 iscombined with the portion of the image captured by the installed camera311 whose field of view is blocked by the obstructive object X toproduce renewed vehicle outside-image information 321 in which the fieldof vision is cleared (step S304). Next, the combined vehicleoutside-image information 321 is displayed on the image display device341 (step S305).

Although the present embodiment has described an example in which acamera and a wireless communication interface are installed to anobstructive object other than vehicles, such as buildings or trees, thatcan obstruct the field of view, it is also possible to transmit thevehicle outside-image information 321 produced by the combining to afurther rearward vehicle by the image transmitting unit 315. Moreover,it is possible to combine the image information 322 with receivedvehicle outside-image information from a forward vehicle.

As described above, the vehicle outside-image display system 300according to the present embodiment makes it possible to receive imageinformation from various obstructive objects. Therefore, even in suchportions as the backsides of buildings or the portions that becomes ablind spot from a vehicle as the field of vision is blocked by trees orthe like in the vehicle outside-image display system 100 according tothe previously-described first embodiment, it is possible to display animage that is free of blind spots from driver's view angle by receivingimage information from an obstacle itself that becomes obstruction.

As is clear from the foregoing description, guide information or routeinformation acquired from map data can be combined with images that areobtained by a vehicle outside-image display apparatus of the inventionand in which forward vehicles and obstructive objects that block thefield of vision are made transparent. This makes it possible to obtainimages that are in the same environment as the field of vision viewed bya driver and free of obstacles that block the field of vision incomparison with the environment of three-dimensional images producedfrom map data, such as in conventional navigation systems, leading toincreased visibility and less misrecognitions for drivers.

Although the invention has been described in detail with reference tospecific preferred embodiments thereof, it will be apparent to thoseskilled in the art that various changes and modifications may be madeherein without departing from the scope and sprit of the invention.

The present application is made based on Japanese Patent Application No.2003-149263, filed on May 27, 2003, the contents of which areincorporated by reference herein.

INDUSTRIAL APPLICABILITY

The vehicle outside-image display apparatus according to the inventioncombines an image captured by a vehicle outside-image capturing unitwith vehicle outside-image information received by an image receivingunit to display the combined image, and therefore, makes it possible tovisualize the field of vision blocked by obstacles.

1. A vehicle outside-image display apparatus, comprising: a vehicleoutside-image capturing unit that captures a vehicle's outside image bya camera; an image receiving unit that receives vehicle outside-imageinformation from outside; an image combining unit that combines thevehicle outside-image information received by the image receiving unitwith the image captured by the vehicle outside-image capturing unit; andan image display device that displays renewed vehicle outside-imageinformation produced by the image combining unit.
 2. The vehicleoutside-image display apparatus according to claim 1, wherein the imagereceiving unit receives the vehicle outside-image information from avehicle ahead of a vehicle equipped with the vehicle outside-imagedisplay apparatus.
 3. The vehicle outside-image display apparatusaccording to claim 1, wherein the image combining unit combines aportion of the vehicle outside-image information received by the imagereceiving unit with the image captured by the vehicle outside-imagecapturing unit.
 4. The vehicle outside-image display apparatus accordingto claim 1, further comprising an image transmitting unit that transmitsthe renewed vehicle outside-image information produced by the imagecombining unit to outside.
 5. The vehicle outside-image displayapparatus according to claim 4, wherein the image transmitting unittransmits the renewed vehicle outside-image information produced by theimage combining unit to a rearward vehicle relative to a vehicleequipped with the vehicle outside-image display apparatus.
 6. Thevehicle outside-image display apparatus according to claim 1, furthercomprising: a following distance measuring unit that measures afollowing distance between a vehicle equipped with the vehicleoutside-image display apparatus and a vehicle ahead thereof; and afield-of-vision condition determining unit that determines, with thefollowing distance measuring unit, whether or not a forward field ofvision is blocked, wherein vehicle outside-image information is receivedfrom the image receiving unit when it is determined that the forwardfield of vision is blocked by the vehicle ahead.
 7. The vehicleoutside-image display apparatus according to claim 1, furthercomprising: a measurement value receiving unit that receives athree-dimensional measurement value from outside; and a viewpointconverting unit that converts the vehicle outside-image information tohave a viewpoint from the camera based on the three-dimensionalmeasurement value received by the measurement value receiving unit andsupplies the converted information to the image combining unit.
 8. Thevehicle outside-image display apparatus according to claim 7, furthercomprising: a three-dimensional measuring unit that performs, by athree-dimensional measuring instrument, a three-dimensional measurementfor an environment in a picture range captured by the vehicleoutside-image capturing unit; and a measurement value combining unitthat combines the three-dimensional measurement value received by themeasurement value receiving unit with the three-dimensional measurementvalue acquired by the three-dimensional measuring unit.
 9. The vehicleoutside-image display apparatus according to claim 8, further comprisinga measurement value transmitting unit that transmits a renewedthree-dimensional measurement value produced by the measurement valuecombining unit to outside.
 10. The vehicle outside-image displayapparatus according to claim 9, wherein the measurement valuetransmitting unit transmits the renewed three-dimensional measurementvalue produced by the measurement value combining unit to a rearwardvehicle relative to the vehicle equipped with the vehicle outside-imagedisplay apparatus.
 11. The vehicle outside-image display apparatusaccording to claim 1, wherein the image receiving unit receives vehicleoutside-image information from an obstructive object that obstructs afield of view ahead of a vehicle equipped with the vehicle outside-imagedisplay apparatus.